CN109131307A - The H ∞ robust control method of hybrid power shunting hybrid power system pattern switching - Google Patents
The H ∞ robust control method of hybrid power shunting hybrid power system pattern switching Download PDFInfo
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- CN109131307A CN109131307A CN201810898194.XA CN201810898194A CN109131307A CN 109131307 A CN109131307 A CN 109131307A CN 201810898194 A CN201810898194 A CN 201810898194A CN 109131307 A CN109131307 A CN 109131307A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The present invention relates to the H ∞ robust control methods that a kind of hybrid power shunts hybrid power system pattern switching, including engine start and engine torque switch step.In engine startup, using Dynamic Programming and H ∞ robust control method, the engine of the first and second motor of decision drags torque variation when walking around square and the first brake opening, by power dividing hybrid power system, engine output shaft is set to generate acceleration under the premise of guaranteeing the variation of power output end torque stable and continuous；When engine speed reaches idling, engine electric-controlled unit issues oil spout firing command, and engine starts output torque, completes engine torque switching, and ingoing power shunts hybrid mode.Compared with prior art, the present invention can be perturbed and direct torque error caused by torque ripple with suppression mode handoff procedure system parameter, and realize that the comprehensive performances such as switching time, the ride comfort of mode handover procedure, power performance and brake unit friction work are optimal.
Description
Technical field
The present invention relates to hybrid vehicle control fields, shunt hybrid power system more particularly, to a kind of hybrid power
The H ∞ robust control method of pattern switching.
Background technique
In order to meet increasingly harsh at this stage oil consumption and emission regulation, exploitation hybrid vehicle has become each cart enterprise
Inevitable choice, wherein power dividing system is one of the mainstream scheme of depth and plug-in hybrid-power automobile.Power dividing
Hybrid power system can be such that engine always works on its best fuel consumption line, by the adjusting of motor torque to mention
High vehicle fuel economy.But in vehicle operation, in order to adapt to different driving cycles, frequent switching is needed to work
Mode to meet system dynamic, and promotes working efficiency.The mode handover procedure of power dividing hybrid power system is related to
Opening and closing, engine start and multi power source torque switching of mode switching element etc., especially switch to from electric-only mode mixed
When closing dynamic mode, since reasonable match is connected, the low-speed pulse moment of resistance can reach wheel side, system by power train
Twisting vibration easily makes vehicle generate larger impact of collision.So the pure electric vehicle of hybrid power separate system is to hybrid power mould
Formula switching control problem is its controlling difficulties.
Modern control theory often requires that the mathematical models for establishing control object using linear optimal contro8 as representative,
But due to vehicle parameter and the reason of road condition change, external disturbance and modeling error, the accurate model of actual industrial process
It hardly results in.H ∞ ROBUST THEORY is precisely in order to adapting to engineering actual demand and being born, in algorithm design process, just by system
Parameter Perturbation and model error take into account, and compensate for the defect of the theory of optimal control.
Existing patent mostly uses greatly the coordination control strategy based on model, and control precision is affected by model error.
However, power dividing mixed power system structure is complicated, the parameters such as the elasticity of transmission shaft and damping can not be measured accurately, in addition mould
Formula switches transient process, and there is also stronger torque ripple characteristics, it is difficult to establish mathematical model with high accuracy.Therefore, using H
∞ robust control can preferably solve the problems, such as the pattern switching of power dividing hybrid power system.
Summary of the invention
The object of the invention is in order to overcome the above-mentioned hybrid power system electric-only mode of power dividing in the prior art
To ride comfort present in the switching of power dividing hybrid mode and the problem of engine start, and provide a kind of hybrid power
Shunt the H ∞ robust control method of hybrid power system pattern switching.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of hybrid power shunts the H ∞ robust control method of hybrid power system pattern switching, the hybrid power point
Stream hybrid power system includes double planet wheel rows of mixing dynamic coupling device, electric machine controller, first motor, the second motor, engine, the
One brake and second brake, first brake and second brake are separately connected planet carrier and front-seat sun gear, institute
It states first motor and the second motor is separately connected front-seat sun gear and heel row sun gear；Before pattern switching, vehicle operates in second
The electric-only mode that motor is operated alone, the first brake locking engine shaft, first motor idle running, the control method packet
It includes:
S1, first brake are opened, engine start, to guarantee that vehicle dynamic property for control target, is calculated
The driving torque of first motor and the second motor with engine startability and drives ride comfort as control target, finds out engine
The optimal optimal brake torque curve dragged when turning speed curves and the first brake opening；
S2, using H ∞ Robust Control Algorithm, dragged with the engine and turn optimized rotating speed curve as reference, decision goes out first
Motor and the second motor drag square of walking around, while optimal brake torque when being opened based on first brake is braked to first
The braking moment of device carries out closed-loop control；
S3, using active damping control strategy, the compensation torque of first motor and the second motor is calculated；
S4, by first motor and the driving torque of the second motor, drag walk around square and compensation torque superposition, input motor control
Device, and power dividing hybrid power system is reacted on the braking moment of the first brake one, keep engine shaft revolving speed continuous
Increase, while power output end rotation speed change is steady；
S5, when engine speed increases to idle speed value, the electronic control unit of engine issues oil spout firing command, engine
Start output torque；
S6, the desired value that engine torque is calculated according to the demand power of Engine Universal Characteristics and vehicle this moment, work as hair
When the torque of motivation output reaches desired value, vehicle enters hybrid power and shunts hybrid mode, and pattern switching is completed.
Preferably, the step S1 is specifically included:
S11, the first brake are opened, engine start；
S12, with guarantee vehicle dynamic property for control target, by speed and gas pedal aperture be calculated driver need
Torque is asked, motor torque decision-making module is input to, the driving torque of first motor and the second motor is calculated；
S13, to drive ride comfort, time since engine start and brake sliding friction power as optimization aim, using dynamic
State planning algorithm finds out engine optimum and drags the optimal brake torque curve turned when speed curves and the first brake are opened.
Preferably, dynamic programming algorithm is used in the step S13, is found out engine and is dragged and turns optimized rotating speed curve and first
The process of optimal brake torque when brake is opened specifically includes:
To the braking moment of the first brake, engine corner and engine speed grid division, state matrix is formed；It is right
The point of state matrix is calculated according to the expression formula and system dynamic model of Dynamic Programming cost function not according to serial number
With the cost function value for needing to spend when migrating between each state under motor torque combination；With dynamic programming algorithm, with assembly
The minimum target of this function finds out engine and drags optimal brake torque when turning optimized rotating speed curve and the first brake opening bent
Line.
Preferably, the expression formula of the Dynamic Programming cost function are as follows:
Wherein, J indicates cost function value,Indicate output end angular acceleration, tfExpression, which is dragged, turns the end time, TB1Table
Show the first braking torque, ωCRIndicate planet carrier shaft angular speed, λ1、λ2And λ3It respectively indicates and drives ride comfort, engine start
The weight coefficient of time and brake sliding friction three indexs of power.
Preferably, first motor and the second motor drag square of walking around in the step S2 are as follows:
U=Kx
Wherein, Indicate engine speed,Indicate engine reference rotation velocity；K indicates feedback
Matrix:
K=-B2 TY-1
Wherein,I1' and I2' it is according to the calculated equivalent coefficient of system dynamical equation, it is constant；
Y is obtained by solving following linear matrix inequality:
Wherein,E=A, Ie' to be constant according to the calculated equivalent coefficient of system dynamical equation,
ceFor engine shaft damping due to rotation coefficient；λ indicates arbitrarily to be greater than 0 number；Q is adjustable weight coefficient square
Battle array；
Compared with prior art, inventive process ensures that the dynamic property of whole process and engine can startability, pole
The big sliding friction function for reducing mode handover procedure longitudinal direction of car impact and the first brake, and to model inaccuracy and
The error that Parameter Perturbation generates has very strong inhibiting effect.
Detailed description of the invention
Fig. 1 is that hybrid power used in embodiment shunts hybrid power system configuration picture；
Fig. 2 is the power dividing hybrid power system pattern switching robust control method flow chart that embodiment uses.
It is marked in figure: 1, engine, 2, first motor, the 3, second motor, the 4, first brake, 5, output end, 6, planet
Frame, 7, front-seat sun gear, 8, second brake, 9, planetary gear, 10, gear ring, 11, heel row sun gear.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment
The application proposes that a kind of hybrid power shunts the H ∞ robust control method of hybrid power system pattern switching.Such as Fig. 1
Shown, it includes double planet wheel rows of mixing dynamic coupling device, electric machine controller, first motor 2, that hybrid power, which shunts hybrid power system,
Two motors 3, engine 1, the first brake 4 and second brake 8, the first brake 4 and second brake are separately connected planet
Frame 6 and front-seat sun gear 7, first motor 2 and the second motor 3 are separately connected front-seat sun gear 7 and heel row sun gear 11.Second system
The effect of dynamic device is the locking first motor 2 in the case where higher speed, prevents electrical power from flowing back.The second electricity may be implemented in the system
The various modes such as electric-only mode, power dividing hybrid mode are operated alone in machine 3.
This method shunts hybrid mode switching to hybrid power for the electric-only mode that the second motor 3 is operated alone
Process.Wherein, when vehicle operates in the electric-only mode that the second motor 3 is operated alone, 4 locking engine shaft of the first brake,
First motor 2 dallies, when receiving pattern switching instruction, it is necessary first to open the first brake 4, and coordinating motor torque will
Engine 1 starts, and then engine 1 undergoes torque switch step, torque needed for exporting, and system enters hybrid power and shunts mixing
Dynamic mode.
The handoff procedure of electric-only mode to power dividing hybrid mode is divided into engine start and hair by this method
Motivation torque two stages of switching are controlled, and flow diagram is as shown in Figure 2.Before pattern switching, vehicle operates in the second electricity
The electric-only mode that machine 3 is operated alone, when speed and operator demand's torque are more than threshold value, controller issues pattern switching
Instruction, since electric-only mode is to the switching of power dividing hybrid mode.The power dividing hybrid power system mode is cut
The control method for changing process specifically includes:
S1, the first brake 4 are opened, and into engine startup, this stage focuses on to first motor 2, the
Two motors 3 and the first brake 4 carry out torque coordination control, according to vehicle dynamic property, 1 startability of engine and drive ride comfort
Motor torque is divided into driving torque by three control targets, engine drags walk around square and compensation three part separate computations of torque,
It specifically includes:
S11, the first brake 4 are opened, and engine 1 starts；
S12, with guarantee vehicle dynamic property for control target, by speed and gas pedal aperture be calculated driver need
Torque is asked, motor torque decision-making module is input to, the driving torque of first motor 2 and the second motor 3 is calculated, wherein electricity
The calculation formula of machine torque decision-making module are as follows:
Wherein, T1And T2Respectively indicate the torque of first motor 2 and the second motor 3；TeAnd TLRespectively indicate 1 He of engine
The torque of output end 5；I1、I2And IeRespectively indicate the rotary inertia of first motor 2, the second motor 3 and engine 1；WithPoint
Not Biao Shi engine 1 and output end 5 angular acceleration；ρ1And ρ2Respectively indicate the characteristic parameter of front and back planet row；η1And η2Respectively
Indicate the efficiency of first motor 2 and the second motor 3；
S13, using 1 starting performance of engine as main target, take into account driving ride comfort, engine 1 dragged and turns over Cheng Jinhang
Control: determining the primary condition before pattern switching first, and initial value, engine 1 including 4 braking moment of the first brake start
Crankshaft initial position and switch before output end 5 revolving speed and torque；Then, with drive ride comfort, engine 1 start the time and
Brake sliding friction power is optimization aim, using dynamic programming algorithm, finds out engine 1 offline and drags and turn optimized rotating speed curve
Optimal brake torque curve when being opened with the first brake 4, wherein the evaluation index of ride comfort is indicated using VDV value, i.e., defeated
The biquadratic of 5 acceleration of outlet integrates, and the starting time use of engine 1, which is dragged, turns end time expression；
In hybrid power separate system mode handover procedure, the first brake 4 is quickly opened, and is meeting motor external characteristics
Under constraint condition, different first motors 2 and 3 torque combination of the second motor act on system, consumption power battery power and gram
It takes equivalent 5 moment of resistance of output end and engine 1 drags and turns the moment of resistance, engine 1 and equivalent output end 5 is made to generate angular acceleration and open
Begin to move, dynamic programming algorithm solution procedure includes:
To 1 revolving speed grid division of the braking moment of the first brake 4,1 corner of engine and engine, state square is formed
Battle array；The point of state matrix is calculated according to serial number according to the expression formula and system dynamic model of Dynamic Programming cost function
The cost function value for needing to spend when migrating between each state under the combination of different motor torques；With dynamic programming algorithm, with
The minimum target of totle drilling cost function calculates engine 1 and drags the optimal system turned when optimized rotating speed curve and the first brake 4 are opened
Dynamic torque curve；
The wherein expression formula of Dynamic Programming cost function are as follows:
In formula, J indicates cost function value, tfExpression, which is dragged, turns the end time, TB1Indicate 4 torque of the first brake, ωCRIt indicates
6 axis angular rate of planet carrier, λ1、λ2And λ3It respectively indicates and drives ride comfort, engine 1 starts time and brake sliding friction function
The weight coefficient of three indexs of rate.
S2, based on the first brake 4 open when optimal brake torque, using PID control method to the first brake 4
Braking moment carries out closed-loop control；While the first brake 4 is opened, first motor 2 and the second motor 3 start output and drag to turn
Torque carries out towing astern to engine 1, it is contemplated that hybrid power shunts hybrid power system, and there are the Parameter Perturbations such as rigidity, damping
And torque ripple, it controls system there are error, using H ∞ Robust Control Algorithm, is dragged with the engine 1 obtained and turn optimal turn
Fast curve is reference, and decision first motor 2 and the second motor 3 drag square of walking around, and detailed process is as follows:
Firstly, hybrid power, which shunts hybrid power system, can construct system equation as follows:
In formula,Indicate 1 revolving speed of engine, ceFor 1 axis damping due to rotation coefficient of engine, T1_crankAnd T2_crankRespectively
First motor 2 and the second motor 3 drag square of walking around, TeAnd TLThe torque of engine 1 and output end 5 is respectively indicated,Indicate defeated
5 revolving speed of outlet, Ie'、I1' and I2' it is all according to the calculated equivalent coefficient of system dynamical equation, it is constant；
In formula (4), the difference for choosing 1 actual speed of engine and 1 actual speed of engine and reference rotation velocity is state
Variable, the torque for choosing first motor 2 and the second motor 3 is control variable, is respectively indicated are as follows:
Wherein,Indicate engine reference rotation velocity；It is according to the state variable and control variable chosen, formula (4) is whole
H ∞ Robustness Criteria form shown in formula (5) is managed into, and writes out cost function expression formula shown in formula (6):
In formula,
Δ A=E ∑ (t) Fa, E=A；
Assuming that the absolute value of 1 axis damping due to rotation coefficient of engine perturbation maximum value is δ, then:
Q and R is adjustable weight coefficient matrix, and Q represents the tracking situation of engine reference rotation velocity, and R is represented
The energy of input value；
According to H ∞ robust control theory, the condition that the above problem has solution is, there are any λ > 0, make as lower inequality at
It is vertical:
ATX+XA+X(B1B1 T+λ2EET-B2B2 T)X+C1 TC1+λ-2Fa TFa< 0 (7)
Enable Y=X-1, it is as follows above-mentioned inequality can be write as linear matrix inequality form:
Y is solved using the tool box LMI of MATLAB, feedback matrix K can be indicated are as follows:
K=-B2 TY-1 (9)
Based on formula (9), the dragging of first motor 2 and the second motor 3 walks around square can be in the hope of:
U=Kx (10)
S3, using active damping strategy, further increase driving ride comfort, reduce 5 fluctuation of speed of output end: by real-time
Speed converts to obtain 5 actual speed of output end, is used as 5 reference rotation velocity of output end by filtering, 5 speed error of output end is inputted
PID controller show that output end 5 compensates the desired value of torque, then inputs motor torque decision-making module, calculates first motor 2
With the compensation torque of the second motor 3.
S4, by the driving torque of first motor 2 and the second motor 3 that above-mentioned steps obtain, drag walk around square and compensation torque
Superposition inputs electric machine controller, and reacts on power dividing hybrid power system with the braking moment one of the first brake 4,
It is continuously increased 1 axis revolving speed of engine, while 5 rotation speed change of power output end is steady.
S5, being tabled look-up according to 1 water temperature of engine obtains 1 idle speed value of engine, when 1 revolving speed of engine increases to idle speed value,
The electronic control unit of engine 1 issues oil spout firing command, and engine 1 starts output torque.
S6, the desired value that 1 torque of engine is calculated according to the demand power of 1 universal characteristic of engine and vehicle this moment, when
When the torque that engine 1 exports reaches desired value, vehicle enters hybrid power and shunts hybrid mode, and pattern switching is completed.
Claims (5)
1. a kind of hybrid power shunts the H ∞ robust control method of hybrid power system pattern switching, the hybrid power is shunted
Hybrid power system includes double planet wheel rows of mixing dynamic coupling device, electric machine controller, first motor, the second motor, engine, first
Brake and second brake, first brake and second brake are separately connected planet carrier and front-seat sun gear, described
First motor and the second motor are separately connected front-seat sun gear and heel row sun gear；Before pattern switching, vehicle operates in the second electricity
The electric-only mode that machine is operated alone, the first brake locking engine shaft, first motor idle running, which is characterized in that the control
Method processed includes:
S1, first brake are opened, engine start, to guarantee that vehicle dynamic property for control target, is calculated first
The driving torque of motor and the second motor with engine startability and drives ride comfort as control target, finds out engine optimum
Drag optimal brake torque curve when turning speed curves and the first brake opening；
S2, using H ∞ Robust Control Algorithm, dragged with the engine and turn optimized rotating speed curve as reference, decision goes out first motor
With the square of walking around that drags of the second motor, while based on first brake open when optimal brake torque to the first brake
Braking moment carries out closed-loop control；
S3, using active damping control strategy, the compensation torque of first motor and the second motor is calculated；
S4, by first motor and the driving torque of the second motor, drag walk around square and compensation torque superposition, input electric machine controller,
And power dividing hybrid power system is reacted on the braking moment of the first brake one, increase engine shaft revolving speed constantly
Add, while power output end rotation speed change is steady；
S5, when engine speed increases to idle speed value, the electronic control unit of engine issues oil spout firing command, and engine starts
Output torque；
S6, the desired value that engine torque is calculated according to the demand power of Engine Universal Characteristics and vehicle this moment, work as engine
When the torque of output reaches desired value, vehicle enters hybrid power and shunts hybrid mode, and pattern switching is completed.
2. hybrid power according to claim 1 shunts the H ∞ robust control method of hybrid power system pattern switching,
It is characterized in that, the step S1 is specifically included:
S11, the first brake are opened, engine start；
S12, with guarantee vehicle dynamic property for control target, by speed and gas pedal aperture be calculated operator demand turn
Square is input to motor torque decision-making module, and the driving torque of first motor and the second motor is calculated；
S13, to drive ride comfort, time since engine start and brake sliding friction power as optimization aim, advised using dynamic
Cost-effective method finds out engine optimum and drags the optimal brake torque curve turned when speed curves and the first brake are opened.
3. hybrid power according to claim 2 shunts the H ∞ robust control method of hybrid power system pattern switching,
It is characterized in that, dynamic programming algorithm is used in the step S13, engine is found out and drags and turn optimized rotating speed curve and the first brake
The process of optimal brake torque when opening specifically includes:
To the braking moment of the first brake, engine corner and engine speed grid division, state matrix is formed；To state
The point of matrix is calculated according to the expression formula and system dynamic model of Dynamic Programming cost function in different electricity according to serial number
The cost function value for needing to spend when migrating between each state under machine torque combination；With dynamic programming algorithm, with totle drilling cost letter
The minimum targets of number find out engine and drag the optimal brake torque curve for turning optimized rotating speed curve and when the first brake is opened.
4. hybrid power according to claim 3 shunts the H ∞ robust control method of hybrid power system pattern switching,
It is characterized in that, the expression formula of the Dynamic Programming cost function are as follows:
Wherein, J indicates cost function value,Indicate output end angular acceleration, tfExpression, which is dragged, turns the end time, TB1Indicate first
Braking torque, ωCRIndicate planet carrier shaft angular speed, λ1、λ2And λ3Respectively indicate drive ride comfort, time since engine start and
The weight coefficient of brake sliding friction three indexs of power.
5. hybrid power according to claim 1 shunts the H ∞ robust control method of hybrid power system pattern switching,
It is characterized in that, first motor and the second motor drags square of walking around in the step S2 are as follows:
U=Kx
Wherein, Indicate engine speed,Indicate engine reference rotation velocity；K indicates feedback matrix:
K=-B2 TY-1
Wherein,I1' and I2' it is according to the calculated equivalent coefficient of system dynamical equation, it is constant；Y is logical
It crosses and solves following linear matrix inequality and obtain:
Wherein,E=A, Ie' it is according to the calculated equivalent coefficient of system dynamical equation, it is constant, ceFor
Engine shaft damping due to rotation coefficient；λ indicates arbitrarily to be greater than 0 number；Q is adjustable weight coefficient matrix；
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849892A (en) * | 2019-03-25 | 2019-06-07 | 科力远混合动力技术有限公司 | Power dividing type hybrid vehicle pure electric vehicle drive mode method for handover control |
| CN109849889A (en) * | 2019-03-25 | 2019-06-07 | 科力远混合动力技术有限公司 | Power dividing type hybrid vehicle hybrid power drive mode method for handover control |
| CN109899467A (en) * | 2019-03-22 | 2019-06-18 | 陈扬珑 | Two grades of electricity of double rank planetary gear sets drive speed changer |
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